CN110559564B - Ultrasonic stimulation device, terminal and medium - Google Patents
Ultrasonic stimulation device, terminal and medium Download PDFInfo
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- CN110559564B CN110559564B CN201910824875.6A CN201910824875A CN110559564B CN 110559564 B CN110559564 B CN 110559564B CN 201910824875 A CN201910824875 A CN 201910824875A CN 110559564 B CN110559564 B CN 110559564B
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Abstract
The application is applicable to the technical field of medical treatment, and provides an ultrasonic stimulation method and device, wherein the method comprises the following steps: acquiring an ultrasonic stimulation target area of an organ; adjusting a fixed position of an ultrasound transducer based on each stimulation probe determined from the ultrasound stimulation target area; determining a target stimulation target point from the stimulation probe points based on stimulation feedback results of the ultrasonic stimulation at different fixed positions; based on the target point, the ultrasonic stimulation operation is executed, the convenience of searching the target point is improved, and the accuracy of the ultrasonic stimulation operation is improved.
Description
Technical Field
The application belongs to the technical field of medical treatment, and particularly relates to an ultrasonic stimulation method and device.
Background
The physical nerve regulation and control technology is an important means applied to neuroscience research and intervention of neurological diseases. The nerve stimulation and regulation technology such as deep brain electrical stimulation, transcranial magnetic stimulation, light gene regulation and the like is generated by combining the basic principles of electricity, magnetism, light and the like with neuroscience.
The medical ultrasound is used as a noninvasive diagnosis and treatment technology, can form focusing in a human body, is targeted to tissues in a specific area, and has the function of regulating and controlling peripheral nerves.
However, the existing medical ultrasonic device is usually applied to brain nerve stimulation, and when the medical ultrasonic device is applied to the trunk part of a human body to implement nerve stimulation, the target point is not easy to find, and the stimulation positioning is not accurate.
Disclosure of Invention
In view of this, the embodiments of the present application provide an ultrasound stimulation method and apparatus, so as to solve the problems that when a medical ultrasound apparatus is applied to a trunk of a human body to perform nerve stimulation in the prior art, a target point is not easy to find, and stimulation positioning is not accurate.
A first aspect of embodiments of the present application provides an ultrasound stimulation method, comprising:
acquiring an ultrasonic stimulation target area of an organ;
adjusting a fixed position of an ultrasound transducer based on each stimulation probe determined from the ultrasound stimulation target area;
determining a target stimulation target point from the stimulation probe points based on stimulation feedback results of the ultrasonic stimulation at different fixed positions;
and executing ultrasonic stimulation operation based on the target stimulation target point.
A second aspect of embodiments of the present application provides an ultrasound stimulation apparatus comprising:
an acquisition module for acquiring an ultrasound stimulation target area of an organ;
a position adjustment module for adjusting a fixed position of an ultrasound transducer based on each stimulation probe determined from the ultrasound stimulation target area;
the target point determining module is used for determining a target stimulation target point from the stimulation detection points based on the stimulation feedback results of the ultrasonic stimulation at different fixed positions;
and the ultrasonic stimulation module is used for executing ultrasonic stimulation operation based on the target stimulation target point.
A third aspect of embodiments of the present application provides a terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method according to the first aspect when executing the computer program.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, in which a computer program is stored, which, when executed by a processor, performs the steps of the method according to the first aspect.
A fifth aspect of the application provides a computer program product comprising a computer program which, when executed by one or more processors, performs the steps of the method as described in the first aspect above.
It can be seen from the above that, in the embodiment of the present application, the ultrasonic stimulation target area of an organ is obtained, based on each stimulation probe point determined in the ultrasonic stimulation target area, the fixed position of the ultrasonic transducer is adjusted, based on the stimulation feedback result of ultrasonic stimulation at different fixed positions, a target stimulation target point is determined from the stimulation probe points, the ultrasonic stimulation operation is performed, and by modulating the fixing device of the ultrasonic transducer, a target stimulation target point meeting requirements is found from the stimulation probe points set in the ultrasonic stimulation target area, so that when the ultrasonic device is applied to a human body trunk area to implement nerve stimulation, the convenience of finding the target point is improved, and the accuracy of the ultrasonic stimulation operation is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a first flowchart of an ultrasound stimulation method provided in an embodiment of the present application;
fig. 2 is a flowchart ii of an ultrasound stimulation method provided in the embodiment of the present application;
fig. 3 is a schematic diagram of a set geometric location point in a three-dimensional detection region according to an embodiment of the present disclosure;
fig. 4 is a structural diagram of a fixing device of an ultrasonic transducer provided in an embodiment of the present application;
FIG. 5 is a block diagram of an ultrasound stimulation apparatus provided in accordance with an embodiment of the present application;
fig. 6 is a block diagram of a terminal according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
In particular implementations, the terminals described in embodiments of the present application include, but are not limited to, other portable devices such as mobile phones, laptop computers, or tablet computers having touch sensitive surfaces (e.g., touch screen displays and/or touch pads). It should also be understood that in some embodiments, the device is not a portable communication device, but is a desktop computer having a touch-sensitive surface (e.g., a touch screen display and/or touchpad).
In the discussion that follows, a terminal that includes a display and a touch-sensitive surface is described. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, mouse, and/or joystick.
The terminal supports various applications, such as one or more of the following: a drawing application, a presentation application, a word processing application, a website creation application, a disc burning application, a spreadsheet application, a gaming application, a telephone application, a video conferencing application, an email application, an instant messaging application, an exercise support application, a photo management application, a digital camera application, a web browsing application, a digital music player application, and/or a digital video player application.
Various applications that may be executed on the terminal may use at least one common physical user interface device, such as a touch-sensitive surface. One or more functions of the touch-sensitive surface and corresponding information displayed on the terminal can be adjusted and/or changed between applications and/or within respective applications. In this way, a common physical architecture (e.g., touch-sensitive surface) of the terminal can support various applications with user interfaces that are intuitive and transparent to the user.
It should be understood that, the sequence numbers of the steps in this embodiment do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation to the implementation process of the embodiment of the present application.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
Referring to fig. 1, fig. 1 is a first flowchart of an ultrasound stimulation method provided in an embodiment of the present application. As shown in fig. 1, an ultrasound stimulation method includes the steps of:
The ultrasonic stimulation method is a peripheral nerve stimulation means, can be applied to peripheral nerve stimulation of different organs, and comprises the following steps: heart, spleen, liver, pancreas, gallbladder, etc., and intervenes related diseases by stimulating different organ targets.
As an alternative embodiment, wherein the ultrasound stimulation target area of the harvesting organ comprises:
establishing a three-dimensional guide map according to the medical image of the organ; and acquiring an ultrasonic stimulation target area of the organ based on the selection operation of the area in the three-dimensional guide map.
Specifically, the medical image may be, for example, an ultrasound image, a magnetic resonance image, an electronic computed tomography image, etc., the apparatus creates a three-dimensional guide map according to the medical image, the operator (doctor) determines a stimulation region according to information (image morphology, or related functional information, etc.) in the three-dimensional guide map, and performs a region selection operation, which includes but is not limited to: a click operation in the three-dimensional guide map, a drag operation, a touch gesture combination operation on the display screen, and the like.
The ultrasonic transducer can convert the input electric power into ultrasonic waves to be transmitted out and convert the received ultrasonic waves into electric signals.
After obtaining the ultrasonically stimulated target volume based on the selecting operation, stimulation probe points within the target volume may be determined based on the ultrasonically stimulated target volume, the stimulation probe points being at least one. The stimulation detection point is used for ultrasonic stimulation detection on the basis of the fixed position adjustment of the ultrasonic transducer. When ultrasonic stimulation detection is performed on different stimulation detection points, the fixed position of the ultrasonic transducer needs to be adjusted based on the position of each stimulation detection point so as to change the ultrasonic emission position of the ultrasonic transducer, and finally an optimal ultrasonic stimulation target point is determined from an ultrasonic stimulation target area.
Specifically, since the medical image can observe the organ morphology, the three-dimensional fixing device of the ultrasonic transducer can be guided to move the ultrasonic transducer to the target area (larger range) of stimulation, and for some intervention conditions with fewer target points, the optimal stimulation target point needs to be further searched.
As an optional embodiment, before determining a target stimulation target point from the stimulation probe points based on the stimulation feedback results of the ultrasonic stimulation at different fixed positions, the method further includes:
controlling an ultrasonic transducer to emit ultrasonic waves at different fixed positions; receiving ultrasonic echoes reflected or scattered by neural tissue in different ones of the stimulation probe points; and acquiring stimulation feedback results of ultrasonic stimulation at different fixed positions based on the ultrasonic echoes and the correspondingly acquired physiological data of the patient.
In the process of adjusting the fixed position of the ultrasonic transducer based on each stimulation detection point determined in the ultrasonic stimulation target area, once the fixed position of the ultrasonic transducer is adjusted, an operation process of controlling the ultrasonic transducer to emit ultrasonic waves for ultrasonic stimulation is performed, so that the ultrasonic waves are emitted at different fixed positions for ultrasonic stimulation detection. Meanwhile, every time an ultrasonic wave is transmitted at a fixed position, corresponding ultrasonic echo waves and corresponding patient physiological data are collected, so that stimulation result feedback information of ultrasonic stimulation at the current fixed position is obtained.
The ultrasonic echo can be used for realizing imaging display of a stimulation part after stimulation, and is used for doctors or operators to carry out observation and judge a stimulation result by combining with correspondingly acquired physiological data of patients.
Specifically, in the implementation process, when the ultrasonic transducer realizes ultrasonic stimulation, the electronic control system can set ultrasonic stimulation parameters, including: the ultrasonic stimulation parameters can be determined according to the disease condition information (such as the disease type and severity of the patient) of the patient and the pathological parameters (such as the size and depth of the organ) of the organ where the stimulation probe point is located. When the ultrasonic stimulation parameters are determined, the ultrasonic stimulation can be carried out at different stimulation detection points.
And 103, determining a target stimulation target point from the stimulation detection points based on the stimulation feedback results of the ultrasonic stimulation at different fixed positions.
In the process, stimulation feedback results of ultrasonic stimulation at different fixed positions are compared, a stimulation feedback result with the best stimulation feedback result is found, the best fixed position corresponding to the best stimulation feedback result is further obtained, and a stimulation detection point corresponding to the best fixed position is determined as a target stimulation target point.
Specifically, the stimulation feedback result can be obtained by monitoring electrophysiological information, for example, physiological information such as electroencephalogram, electrocardio, myoelectricity, heart rate, body temperature, blood oxygen saturation and the like of a patient after ultrasonic stimulation is detected, and the stimulation feedback result can be obtained by combining the information.
And the stimulation feedback result, the modulation of different fixed positions and the stimulation detection point are combined to realize closed-loop monitoring, the fixed position modulation of the ultrasonic transducer is realized by using the fixing device, and the optimal accurate stimulation target point is searched and determined.
And 104, executing ultrasonic stimulation operation based on the target stimulation target point.
When the target stimulation target point is found, the ultrasonic stimulation can be carried out by taking the target stimulation target point as a target. The operation stimulation operation is specifically to control the ultrasonic transducer to emit ultrasonic waves towards the target stimulation target point. Wherein the target stimulation target point corresponds to an optimal stimulation feedback effect. Or the stimulation feedback effect which is set by the operator and meets the set requirement.
As an optional embodiment, the performing an ultrasonic stimulation operation based on the target stimulation target includes:
obtaining a target stimulation feedback result corresponding to the target stimulation target point; performing an ultrasound stimulation operation at the target stimulation target point in accordance with the ultrasound stimulation parameters that achieve the target stimulation feedback result.
And realizing ultrasonic stimulation on the target stimulation target according to the ultrasonic stimulation parameters corresponding to the optimal stimulation feedback effect. The present embodiment may be actually configured according to actual needs, and is not limited to this.
The ultrasonic stimulation method in the embodiment of the application obtains the ultrasonic stimulation target area of an organ, adjusts the fixed position of the ultrasonic transducer based on each stimulation probe point determined in the ultrasonic stimulation target area, determines a target stimulation target point from the stimulation probe points based on the stimulation feedback result of ultrasonic stimulation at different fixed positions, and executes ultrasonic stimulation operation.
Various embodiments of ultrasound stimulation methods are also provided in the examples of the present application.
Referring to fig. 2, fig. 2 is a flowchart of a method for ultrasonic stimulation according to an embodiment of the present application. As shown in fig. 2, an ultrasonic stimulation method includes the steps of:
The ultrasonic stimulation method is a peripheral nerve stimulation means, can be applied to peripheral nerve stimulation of different organs, and comprises the following steps: heart, spleen, liver, pancreas, gallbladder, etc., and intervenes related diseases by stimulating different organ targets.
In addition, the specific implementation process of this step is the same as that of step 101 in the foregoing embodiment, and is not described here again to avoid content duplication.
And step 202, establishing a three-dimensional detection area with a specific shape by taking the current coordinates in the ultrasonic stimulation target area as a reference point.
In adjusting the fixed position of the ultrasound transducer based on each stimulation probe determined from the ultrasound stimulation target area, it is necessary to traverse the stimulation points in the ultrasound stimulation target area. Specifically, a certain coordinate in the ultrasonic stimulation target area is taken as a reference point, a three-dimensional detection area corresponding to the coordinate is established, and a traversal ultrasonic stimulation detection process of a detection point is executed in the three-dimensional detection area.
Wherein, the specific shape can be a cube, a cuboid, a sphere and the like.
And 203, controlling a fixing device of the ultrasonic transducer to sequentially move the ultrasonic transducer to a set geometric position point in the three-dimensional detection area based on the three-dimensional detection area.
Wherein the set geometric position point comprises at least one of a vertex, a midpoint of an edge, a midpoint of a plane and a golden ratio division point of the edge in the three-dimensional detection region with a specific shape.
When the specific shape of the three-dimensional detection region is a regular cube shape, the geometric position points are set as indicated by black dots in the figure, as shown in fig. 3.
When the ergodic ultrasonic stimulation detection is carried out in the established three-dimensional detection area, the ergodic operation process at the set geometric position point is realized by controlling the fixing device of the ultrasonic transducer to sequentially move the ultrasonic transducer.
Specifically, as shown in fig. 4, the fixing device of the ultrasonic transducer includes: the ultrasonic probe comprises a first fixing rod X with a function of stretching along a first direction, a second fixing rod Y with a function of stretching along a second direction and a third fixing rod Z with a function of stretching along a third direction, wherein the first direction, the second direction and the third direction are mutually perpendicular, the first fixing rod X, the second fixing rod Y and the third fixing rod Z are sequentially connected, and an ultrasonic transducer D is fixedly arranged on the first fixing rod X.
The first fixing rod X, the second fixing rod Y and the third fixing rod Z are used for fixing the ultrasonic transducer and adjusting the position of the ultrasonic transducer in three different directions.
The fixing device can further comprise a base C, and the third fixing rod Z is arranged on the base C, so that the overall structural stability of the fixing device is realized.
Correspondingly, the fixing device for controlling the ultrasonic transducer sequentially moves the ultrasonic transducer to the set geometric position point in the three-dimensional detection region, and the method comprises the following steps:
respectively determining three-dimensional position coordinates of the set geometric position points in the three-dimensional detection region based on current coordinates in the ultrasonic stimulation target region; mapping the three-dimensional position coordinates to displacement distances of the first fixed rod, the second fixed rod and the third fixed rod; and adjusting the first fixing rod, the second fixing rod and/or the third fixing rod according to the displacement distance to drive the ultrasonic transducer to move to the set geometric position point in the three-dimensional detection region.
In the process, the to-be-placed coordinates of the ultrasonic transducer are calculated according to the relative position of the ultrasonic transducer and the ultrasonic stimulation target area and the three-dimensional position coordinates of the set geometric position points in the three-dimensional detection area.
Specifically, in this step, when the position of the ultrasound transducer is adjusted by the fixing device of the ultrasound transducer, after the position information of the stimulation target area is obtained according to the imaging, the effective distance between the fixing position of the ultrasound transducer and the ultrasound stimulation is designed by calculation of the positioning system, so as to obtain the fixed coordinates, thereby mapping the three-dimensional position coordinates of the set geometric position points in the three-dimensional detection area to the displacement distances of the first fixing rod, the second fixing rod and the third fixing rod, and fixing the ultrasound transducer by the fixing device.
In addition, it should be noted that, in the process of adjusting the position of the ultrasonic transducer by the fixing device of the ultrasonic transducer, if there is a gap between the ultrasonic transducer and the surface of the human body, it is necessary to match the engaging device B with a corresponding size between the ultrasonic transducer and the human body, as shown in fig. 4.
This situation may occur when the patient lies on the bed a, after the height adjustment of the ultrasonic transducer, there is a gap between the surface of the body and the ultrasonic transducer, and the ultrasound cannot penetrate the air, and the attachment to the surface of the body is achieved by the height-adjustable engaging means B. Specifically, the joining device B may be embedded outside the ultrasonic transducer, and a conventional acoustically transparent coupling agent is filled in the joining device, so that the ultrasonic emitting end of the ultrasonic transducer can be attached to the surface of the human body at any time.
And 204, respectively carrying out ultrasonic stimulation on the set geometric position points, and acquiring corresponding stimulation feedback results.
Specifically, the stimulation feedback result can be obtained by monitoring electrophysiological information, for example, physiological information such as electroencephalogram, electrocardio, myoelectricity, heart rate, body temperature, blood oxygen saturation and the like of a patient after ultrasonic stimulation is detected, and the stimulation feedback result can be obtained by combining the information.
And step 205, determining a target geometric position point corresponding to the target stimulation feedback result meeting the set conditions in the stimulation feedback results as the current target stimulation target point.
The set conditions are set in advance by doctors according to experience and the actual condition of patients. The step realizes the determination of the current target stimulation target point in the three-dimensional detection area with a specific shape established by taking the current coordinate as a reference point in the ultrasonic stimulation target area based on the stimulation feedback result.
After the step is completed, the step 202 needs to be executed again, and a three-dimensional detection area with a specific shape is established by taking the current coordinates in the ultrasonic stimulation target area as a reference point until a target stimulation target point meeting set conditions is determined from all the generated current target stimulation target points.
The next location point referred to in step 206 is one of a plurality of planned location points in the ultrasound stimulation target area, and the plurality of planned location points in the ultrasound stimulation target area may be continuous or discrete, and may be set according to actual needs.
In the processing process, the current target stimulation targets are respectively found out from the three-dimensional detection areas established by different reference points based on the ultrasonic stimulation target areas, and then a target stimulation target meeting set conditions is determined from all the generated current target stimulation targets, so that the final optimal stimulation target is determined.
And step 207, performing ultrasonic stimulation operation based on the target stimulation target point.
In the specific ultrasonic stimulation execution process, noninvasive accurate ultrasonic stimulation is used for stimulating peripheral nerve targets at positions of organs and the like, intervention on diseases of patients is realized by regulating and controlling peripheral nerves, and the treatment scheme is quickly adjusted through monitoring feedback in the peripheral nerve regulation and control process, so that diseases are better improved.
The specific implementation process of this step is the same as the implementation process of step 104 in the foregoing embodiment, and is not described here again to avoid content duplication.
The ultrasonic stimulation method in the embodiment of the application obtains the ultrasonic stimulation target area of an organ, adjusts the fixed position of the ultrasonic transducer based on each stimulation probe point determined in the ultrasonic stimulation target area, determines a target stimulation target point from the stimulation probe points based on the stimulation feedback result of ultrasonic stimulation at different fixed positions, and executes ultrasonic stimulation operation.
Referring to fig. 5, fig. 5 is a structural diagram of an ultrasonic stimulation apparatus provided in an embodiment of the present application, and for convenience of description, only a part related to the embodiment of the present application is shown.
The ultrasonic stimulation apparatus 300 includes: a target area acquisition module 301, a position adjustment module 302, a target point determination module 303, and an ultrasonic stimulation module 304.
A target area acquisition module 301, configured to acquire an ultrasound-stimulated target area of an organ;
a position adjustment module 302 for adjusting a fixed position of an ultrasound transducer based on each stimulation probe determined from the ultrasound stimulation target area;
a target point determining module 303, configured to determine a target stimulation target point from the stimulation probe points based on stimulation feedback results of the ultrasonic stimulation at different fixed positions;
an ultrasonic stimulation module 304, configured to perform an ultrasonic stimulation operation based on the target stimulation target point.
Wherein, the position adjusting module 302 includes:
the region establishing submodule is used for establishing a three-dimensional detection region with a specific shape by taking the current coordinate in the ultrasonic stimulation target region as a reference point;
and the control submodule is used for controlling a fixing device of the ultrasonic transducer to sequentially move the ultrasonic transducer to a set geometric position point in the three-dimensional detection area based on the three-dimensional detection area.
Wherein the target determination module 303 is specifically configured to:
respectively carrying out ultrasonic stimulation on the set geometric position points, and acquiring corresponding stimulation feedback results;
determining a target geometric position point corresponding to a target stimulation feedback result meeting set conditions in the stimulation feedback result as a current target stimulation target point;
resetting the current coordinate to the coordinate of the next position point in the ultrasonic stimulation target area, and returning to execute the step of establishing a three-dimensional detection area with a specific shape by taking the current coordinate in the ultrasonic stimulation target area as a reference point until one target stimulation target point meeting set conditions is determined in all the generated current target stimulation target points.
Wherein the fixing device of the ultrasonic transducer comprises: the ultrasonic transducer comprises a first fixing rod with a function of stretching along a first direction, a second fixing rod with a function of stretching along a second direction and a third fixing rod with a function of stretching along a third direction, wherein the first direction, the second direction and the third direction are mutually perpendicular, the first fixing rod, the second fixing rod and the third fixing rod are sequentially connected, and the ultrasonic transducer is fixedly arranged on the first fixing rod.
Wherein the control sub-module is specifically configured to:
respectively determining three-dimensional position coordinates of the set geometric position points in the three-dimensional detection region based on current coordinates in the ultrasonic stimulation target region;
mapping the three-dimensional position coordinates to displacement distances of the first fixed rod, the second fixed rod and the third fixed rod;
and adjusting the first fixing rod, the second fixing rod and/or the third fixing rod according to the displacement distance to drive the ultrasonic transducer to move to the set geometric position point in the three-dimensional detection region.
Wherein the set geometric location point comprises at least one of a vertex, a midpoint of an edge, a midpoint of a plane, and a golden ratio division point of an edge in the three-dimensional detection region of a specific shape.
Wherein the ultrasound stimulation module is specifically configured to: obtaining a target stimulation feedback result corresponding to the target stimulation target point; performing an ultrasound stimulation operation at the target stimulation target point in accordance with the ultrasound stimulation parameters that achieve the target stimulation feedback result.
Wherein the target acquisition module 301 is specifically configured to: establishing a three-dimensional guide map according to the medical image of the organ; and acquiring an ultrasonic stimulation target area of the organ based on the selection operation of the area in the three-dimensional guide map.
The device also includes: the device comprises a control module, a receiving module and a result acquisition module.
The control module is used for controlling the ultrasonic transducer to emit ultrasonic waves at different fixed positions;
a receiving module for receiving ultrasonic echoes reflected or scattered by nerve tissues in different stimulation detection points;
and the result acquisition module is used for acquiring stimulation feedback results of the ultrasonic stimulation at different fixed positions based on the ultrasonic echo and the correspondingly acquired physiological data of the patient.
The ultrasonic stimulation device in the embodiment of the application obtains the ultrasonic stimulation target area of an organ, based on each stimulation detection point determined in the ultrasonic stimulation target area, the fixed position of the ultrasonic transducer is adjusted, based on the stimulation feedback result of ultrasonic stimulation at different fixed positions, a target stimulation target point is determined from the stimulation detection points, the ultrasonic stimulation operation is executed, through modulation of the fixing device of the ultrasonic transducer, the target stimulation target point meeting requirements is found out from the stimulation detection points arranged in the ultrasonic stimulation target area, when the ultrasonic device is applied to the human body trunk area to implement nerve stimulation, the convenience of searching the target point is improved, and the accuracy of the ultrasonic stimulation operation is improved.
The ultrasonic stimulation device provided by the embodiment of the application can realize each process of the embodiment of the ultrasonic stimulation method, can achieve the same technical effect, and is not repeated here for avoiding repetition.
Fig. 6 is a block diagram of a terminal according to an embodiment of the present application. As shown in the figure, the terminal 4 of this embodiment includes: a processor 40, a memory 41 and a computer program 42 stored in said memory 41 and executable on said processor 40.
Illustratively, the computer program 42 may be partitioned into one or more modules/units that are stored in the memory 41 and executed by the processor 40 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 42 in the terminal 4. For example, the computer program 42 may be segmented into a target region acquisition module, a position adjustment module, a target determination module, an ultrasound stimulation module, a control module, a reception module, and a result acquisition module. The specific functions of each module are as follows:
the target area acquisition module is used for acquiring an ultrasonic stimulation target area of the organ;
a position adjustment module for adjusting a fixed position of an ultrasound transducer based on each stimulation probe determined from the ultrasound stimulation target area;
the target point determining module is used for determining a target stimulation target point from the stimulation detection points based on the stimulation feedback results of the ultrasonic stimulation at different fixed positions;
and the ultrasonic stimulation module is used for executing ultrasonic stimulation operation based on the target stimulation target point.
Wherein, the position adjustment module includes:
the region establishing submodule is used for establishing a three-dimensional detection region with a specific shape by taking the current coordinate in the ultrasonic stimulation target region as a reference point;
and the control submodule is used for controlling a fixing device of the ultrasonic transducer to sequentially move the ultrasonic transducer to a set geometric position point in the three-dimensional detection area based on the three-dimensional detection area.
Wherein the target determination module is specifically configured to:
respectively carrying out ultrasonic stimulation on the set geometric position points, and acquiring corresponding stimulation feedback results;
determining a target geometric position point corresponding to a target stimulation feedback result meeting set conditions in the stimulation feedback result as a current target stimulation target point;
resetting the current coordinate to the coordinate of the next position point in the ultrasonic stimulation target area, and returning to execute the step of establishing a three-dimensional detection area with a specific shape by taking the current coordinate in the ultrasonic stimulation target area as a reference point until one target stimulation target point meeting set conditions is determined in all the generated current target stimulation target points.
Wherein the fixing device of the ultrasonic transducer comprises: the ultrasonic transducer comprises a first fixing rod with a function of stretching along a first direction, a second fixing rod with a function of stretching along a second direction and a third fixing rod with a function of stretching along a third direction, wherein the first direction, the second direction and the third direction are mutually perpendicular, the first fixing rod, the second fixing rod and the third fixing rod are sequentially connected, and the ultrasonic transducer is fixedly arranged on the first fixing rod.
Wherein the control sub-module is specifically configured to:
respectively determining three-dimensional position coordinates of the set geometric position points in the three-dimensional detection region based on current coordinates in the ultrasonic stimulation target region;
mapping the three-dimensional position coordinates to displacement distances of the first fixed rod, the second fixed rod and the third fixed rod;
and adjusting the first fixing rod, the second fixing rod and/or the third fixing rod according to the displacement distance to drive the ultrasonic transducer to move to the set geometric position point in the three-dimensional detection region.
Wherein the set geometric location point comprises at least one of a vertex, a midpoint of an edge, a midpoint of a plane, and a golden ratio division point of an edge in the three-dimensional detection region of a specific shape.
Wherein the ultrasound stimulation module is specifically configured to: obtaining a target stimulation feedback result corresponding to the target stimulation target point; performing an ultrasound stimulation operation at the target stimulation target point in accordance with the ultrasound stimulation parameters that achieve the target stimulation feedback result.
Wherein the target volume acquisition module is specifically configured to: establishing a three-dimensional guide map according to the medical image of the organ; and acquiring an ultrasonic stimulation target area of the organ based on the selection operation of the area in the three-dimensional guide map.
The device also includes: the device comprises a control module, a receiving module and a result acquisition module.
The control module is used for controlling the ultrasonic transducer to emit ultrasonic waves at different fixed positions;
a receiving module for receiving ultrasonic echoes reflected or scattered by nerve tissues in different stimulation detection points;
and the result acquisition module is used for acquiring stimulation feedback results of the ultrasonic stimulation at different fixed positions based on the ultrasonic echo and the correspondingly acquired physiological data of the patient.
The terminal 4 may include, but is not limited to, a processor 40, a memory 41. Those skilled in the art will appreciate that fig. 6 is merely an example of a terminal 4 and is not intended to be limiting of terminal 4, and may include more or fewer components than those shown, or some components in combination, or different components, e.g., the terminal may also include input-output devices, network access devices, buses, etc.
The Processor 40 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may be an internal storage unit of the terminal 4, such as a hard disk or a memory of the terminal 4. The memory 41 may also be an external storage device of the terminal 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) and the like provided on the terminal 4. The memory 41 may also include both an internal storage unit and an external storage device of the terminal 4. The memory 41 is used for storing the computer program and other programs and data required by the terminal. The memory 41 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (21)
1. An ultrasonic stimulation device, comprising:
an acquisition module for acquiring an ultrasound stimulation target area of an organ;
a position adjustment module for adjusting a fixed position of an ultrasound transducer based on each stimulation probe determined from the ultrasound stimulation target area to change an ultrasound emission position of the ultrasound transducer;
the target point determining module is used for determining a target stimulation target point from the stimulation detection points based on the stimulation feedback results of the ultrasonic stimulation at different fixed positions; comparing stimulation feedback results of ultrasonic stimulation at different fixed positions to obtain a target stimulation feedback result, obtaining a target fixed position corresponding to the target stimulation feedback result from the different fixed positions, and determining a stimulation detection point corresponding to the target fixed position as the target stimulation target point;
the ultrasonic stimulation module is used for executing ultrasonic stimulation operation based on the target stimulation target point; based on each stimulation detection point, the position adjusting module adjusts the fixed position of the ultrasonic transducer once, and then the ultrasonic stimulation module executes an operation process of controlling the ultrasonic transducer to emit ultrasonic waves to perform ultrasonic stimulation once;
the position adjustment module includes:
the region establishing submodule is used for establishing a three-dimensional detection region with a specific shape by taking the current coordinate in the ultrasonic stimulation target region as a reference point;
the control submodule is used for controlling a fixing device of the ultrasonic transducer to sequentially move the ultrasonic transducer to a set geometric position point in the three-dimensional detection area based on the three-dimensional detection area;
the target determination module is specifically configured to:
respectively carrying out ultrasonic stimulation on the set geometric position points, and acquiring corresponding stimulation feedback results;
determining a target geometric position point corresponding to a target stimulation feedback result meeting set conditions in the stimulation feedback result as a current target stimulation target point;
resetting the current coordinate to the coordinate of the next position point in the ultrasonic stimulation target area, and returning to execute the step of establishing a three-dimensional detection area with a specific shape by taking the current coordinate in the ultrasonic stimulation target area as a reference point until one target stimulation target point meeting set conditions is determined in all the generated current target stimulation target points; the current target stimulation target point is a point in a three-dimensional detection area with a specific shape established by taking a current coordinate as a reference point in an ultrasonic stimulation target area; the next position point is one of a plurality of position points planned in the ultrasonic stimulation target area; sequentially moving the ultrasonic transducer by controlling the fixing device of the ultrasonic transducer to perform the ergodic ultrasonic stimulation detection of the set geometrical position points in the three-dimensional detection region.
2. The ultrasonic stimulation device according to claim 1, wherein the means for securing the ultrasonic transducer comprises:
the ultrasonic transducer comprises a first fixing rod with a function of stretching along a first direction, a second fixing rod with a function of stretching along a second direction and a third fixing rod with a function of stretching along a third direction, wherein the first direction, the second direction and the third direction are mutually perpendicular, the first fixing rod, the second fixing rod and the third fixing rod are sequentially connected, and the ultrasonic transducer is fixedly arranged on the first fixing rod.
3. The ultrasound stimulation apparatus according to claim 2, wherein the control sub-module is specifically configured to:
respectively determining three-dimensional position coordinates of the set geometric position points in the three-dimensional detection region based on current coordinates in the ultrasonic stimulation target region;
mapping the three-dimensional position coordinates to displacement distances of the first fixed rod, the second fixed rod and the third fixed rod;
and adjusting the first fixing rod, the second fixing rod and/or the third fixing rod according to the displacement distance to drive the ultrasonic transducer to move to the set geometric position point in the three-dimensional detection region.
4. The ultrasonic stimulation device of claim 1,
wherein the set geometric location point comprises at least one of a vertex, a midpoint of an edge, a midpoint of a plane, and a golden ratio division point of an edge in the three-dimensional detection region of a specific shape.
5. The ultrasound stimulation device according to claim 1, wherein the ultrasound stimulation module is specifically configured to:
obtaining a target stimulation feedback result corresponding to the target stimulation target point;
performing an ultrasound stimulation operation at the target stimulation target point in accordance with the ultrasound stimulation parameters that achieve the target stimulation feedback result.
6. The ultrasound stimulation device according to claim 1, wherein the obtaining module is specifically configured to:
establishing a three-dimensional guide map according to the medical image of the organ;
and acquiring an ultrasonic stimulation target area of the organ based on the selection operation of the area in the three-dimensional guide map.
7. The ultrasonic stimulation device according to claim 1, further comprising:
the control module is used for controlling the ultrasonic transducer to emit ultrasonic waves at different fixed positions;
a receiving module for receiving ultrasonic echoes reflected or scattered by nerve tissues in different stimulation detection points;
and the result acquisition module is used for acquiring stimulation feedback results of the ultrasonic stimulation at different fixed positions based on the ultrasonic echo and the correspondingly acquired physiological data of the patient.
8. A terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements the steps of:
acquiring an ultrasonic stimulation target area of an organ;
adjusting a fixed position of an ultrasound transducer based on each stimulation probe determined in the ultrasound stimulation target area to change an ultrasound emission position of the ultrasound transducer;
determining a target stimulation target point from the stimulation probe points based on stimulation feedback results of the ultrasonic stimulation at different fixed positions; comparing stimulation feedback results of ultrasonic stimulation at different fixed positions to obtain a target stimulation feedback result, obtaining a target fixed position corresponding to the target stimulation feedback result from the different fixed positions, and determining a stimulation detection point corresponding to the target fixed position as the target stimulation target point;
performing an ultrasonic stimulation operation based on the target stimulation target point; on the basis of each stimulation detection point, executing an operation process of controlling the ultrasonic transducer to emit ultrasonic waves to perform ultrasonic stimulation once the fixed position of the ultrasonic transducer is adjusted once;
when the processor executes the computer program to adjust the fixed position of the ultrasonic transducer based on each stimulation probe determined from the ultrasonic stimulation target area, the following steps are realized:
establishing a three-dimensional detection area with a specific shape by taking the current coordinate in the ultrasonic stimulation target area as a reference point;
based on the three-dimensional detection area, controlling a fixing device of an ultrasonic transducer to sequentially move the ultrasonic transducer to a set geometric position point in the three-dimensional detection area;
when the processor executes the stimulation feedback result based on the ultrasonic stimulation at different fixed positions in the computer program to determine the target stimulation target point from the stimulation detection points, the following steps are realized:
respectively carrying out ultrasonic stimulation on the set geometric position points, and acquiring corresponding stimulation feedback results;
determining a target geometric position point corresponding to a target stimulation feedback result meeting set conditions in the stimulation feedback result as a current target stimulation target point;
resetting the current coordinate to the coordinate of the next position point in the ultrasonic stimulation target area, and returning to execute the step of establishing a three-dimensional detection area with a specific shape by taking the current coordinate in the ultrasonic stimulation target area as a reference point until one target stimulation target point meeting set conditions is determined in all the generated current target stimulation target points; the current target stimulation target point is a point in a three-dimensional detection area with a specific shape established by taking a current coordinate as a reference point in an ultrasonic stimulation target area; the next position point is one of a plurality of position points planned in the ultrasonic stimulation target area; sequentially moving the ultrasonic transducer by controlling the fixing device of the ultrasonic transducer to perform the ergodic ultrasonic stimulation detection of the set geometrical position points in the three-dimensional detection region.
9. A terminal according to claim 8, characterized in that the ultrasound transducer fixing means comprise: the ultrasonic transducer comprises a first fixing rod with a function of stretching along a first direction, a second fixing rod with a function of stretching along a second direction and a third fixing rod with a function of stretching along a third direction, wherein the first direction, the second direction and the third direction are mutually perpendicular, the first fixing rod, the second fixing rod and the third fixing rod are sequentially connected, and the ultrasonic transducer is fixedly arranged on the first fixing rod.
10. A terminal according to claim 9, wherein the processor executes the computer program to control the ultrasound transducer fixture to move the ultrasound transducer to the set geometric location points in the three-dimensional detection region in sequence, and wherein the processor performs the following steps:
respectively determining three-dimensional position coordinates of the set geometric position points in the three-dimensional detection region based on current coordinates in the ultrasonic stimulation target region;
mapping the three-dimensional position coordinates to displacement distances of the first fixed rod, the second fixed rod and the third fixed rod;
and adjusting the first fixing rod, the second fixing rod and/or the third fixing rod according to the displacement distance to drive the ultrasonic transducer to move to the set geometric position point in the three-dimensional detection region.
11. A terminal according to claim 8, wherein the set geometrical location points comprise at least one of vertices, mid-points of edges, mid-points of planes and golden ratio points of edges in the three-dimensional detection region of a particular shape.
12. The terminal of claim 8, wherein the processor, when executing the ultrasonic stimulation operation based on the target stimulation target point in the computer program, performs the following steps:
obtaining a target stimulation feedback result corresponding to the target stimulation target point;
performing an ultrasound stimulation operation at the target stimulation target point in accordance with the ultrasound stimulation parameters that achieve the target stimulation feedback result.
13. The terminal of claim 8, wherein the processor executes the computer program to obtain an ultrasound stimulation target area of an organ, and wherein the processor performs the following steps:
establishing a three-dimensional guide map according to the medical image of the organ;
and acquiring an ultrasonic stimulation target area of the organ based on the selection operation of the area in the three-dimensional guide map.
14. The terminal according to claim 8, wherein the processor, when executing the computer program, further performs the steps of:
controlling an ultrasonic transducer to emit ultrasonic waves at different fixed positions;
receiving ultrasonic echoes reflected or scattered by neural tissue in different ones of the stimulation probe points;
and acquiring stimulation feedback results of ultrasonic stimulation at different fixed positions based on the ultrasonic echoes and the correspondingly acquired physiological data of the patient.
15. A computer-readable storage medium storing a computer program, the computer program when executed by a processor implementing the steps of:
acquiring an ultrasonic stimulation target area of an organ;
adjusting a fixed position of an ultrasound transducer based on each stimulation probe determined in the ultrasound stimulation target area to change an ultrasound emission position of the ultrasound transducer;
determining a target stimulation target point from the stimulation probe points based on stimulation feedback results of the ultrasonic stimulation at different fixed positions; comparing stimulation feedback results of ultrasonic stimulation at different fixed positions to obtain a target stimulation feedback result, obtaining a target fixed position corresponding to the target stimulation feedback result from the different fixed positions, and determining a stimulation detection point corresponding to the target fixed position as the target stimulation target point;
performing an ultrasonic stimulation operation based on the target stimulation target point; on the basis of each stimulation detection point, executing an operation process of controlling the ultrasonic transducer to emit ultrasonic waves to perform ultrasonic stimulation once the fixed position of the ultrasonic transducer is adjusted once;
adjusting the fixed position of the ultrasound transducer based on each stimulation probe determined in the ultrasound stimulation target area when executed by the processor implements the steps of:
establishing a three-dimensional detection area with a specific shape by taking the current coordinate in the ultrasonic stimulation target area as a reference point;
based on the three-dimensional detection area, controlling a fixing device of an ultrasonic transducer to sequentially move the ultrasonic transducer to a set geometric position point in the three-dimensional detection area;
the computer program, based on the stimulation feedback results of the ultrasonic stimulation at different fixed positions, determines a target stimulation target point from the stimulation probe points, and when the target stimulation target point is executed by a processor, the computer program implements the following steps:
respectively carrying out ultrasonic stimulation on the set geometric position points, and acquiring corresponding stimulation feedback results;
determining a target geometric position point corresponding to a target stimulation feedback result meeting set conditions in the stimulation feedback result as a current target stimulation target point;
resetting the current coordinate to the coordinate of the next position point in the ultrasonic stimulation target area, and returning to execute the step of establishing a three-dimensional detection area with a specific shape by taking the current coordinate in the ultrasonic stimulation target area as a reference point until one target stimulation target point meeting set conditions is determined in all the generated current target stimulation target points; the current target stimulation target point is a point in a three-dimensional detection area with a specific shape established by taking a current coordinate as a reference point in an ultrasonic stimulation target area; the next position point is one of a plurality of position points planned in the ultrasonic stimulation target area; sequentially moving the ultrasonic transducer by controlling the fixing device of the ultrasonic transducer to perform the ergodic ultrasonic stimulation detection of the set geometrical position points in the three-dimensional detection region.
16. The computer-readable storage medium of claim 15, wherein the means for securing the ultrasound transducer comprises: the ultrasonic transducer comprises a first fixing rod with a function of stretching along a first direction, a second fixing rod with a function of stretching along a second direction and a third fixing rod with a function of stretching along a third direction, wherein the first direction, the second direction and the third direction are mutually perpendicular, the first fixing rod, the second fixing rod and the third fixing rod are sequentially connected, and the ultrasonic transducer is fixedly arranged on the first fixing rod.
17. The computer-readable storage medium according to claim 16, wherein the computer program controls a fixture of an ultrasound transducer to sequentially move the ultrasound transducer to a set geometrical location point in the three-dimensional detection region when executed by a processor to implement the steps of:
respectively determining three-dimensional position coordinates of the set geometric position points in the three-dimensional detection region based on current coordinates in the ultrasonic stimulation target region;
mapping the three-dimensional position coordinates to displacement distances of the first fixed rod, the second fixed rod and the third fixed rod;
and adjusting the first fixing rod, the second fixing rod and/or the third fixing rod according to the displacement distance to drive the ultrasonic transducer to move to the set geometric position point in the three-dimensional detection region.
18. The computer-readable storage medium of claim 15, wherein the set geometric location points comprise at least one of vertices, edges midpoints, plane midpoints, and golden ratio division points of edges in the three-dimensional detection region of a particular shape.
19. The computer-readable storage medium according to claim 15, wherein the performing an ultrasound stimulation operation in the computer program, when executed by a processor, based on the target stimulation target, implements the steps of:
obtaining a target stimulation feedback result corresponding to the target stimulation target point;
performing an ultrasound stimulation operation at the target stimulation target point in accordance with the ultrasound stimulation parameters that achieve the target stimulation feedback result.
20. The computer-readable storage medium according to claim 15, wherein acquiring the ultrasound stimulation target area of the organ in the computer program when executed by a processor implements the steps of:
establishing a three-dimensional guide map according to the medical image of the organ;
and acquiring an ultrasonic stimulation target area of the organ based on the selection operation of the area in the three-dimensional guide map.
21. The computer-readable storage medium according to claim 15, wherein the computer program when executed by a processor further performs the steps of:
controlling an ultrasonic transducer to emit ultrasonic waves at different fixed positions;
receiving ultrasonic echoes reflected or scattered by neural tissue in different ones of the stimulation probe points;
and acquiring stimulation feedback results of ultrasonic stimulation at different fixed positions based on the ultrasonic echoes and the correspondingly acquired physiological data of the patient.
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| CN110975176B (en) * | 2019-12-27 | 2021-04-27 | 中国人民解放军总医院 | Method and device for automatically regulating and controlling magnetic wave knife of human brain |
| WO2022047740A1 (en) * | 2020-09-04 | 2022-03-10 | 深圳先进技术研究院 | Stimulation signal generation method and apparatus, and terminal device |
| CN112156360A (en) * | 2020-09-04 | 2021-01-01 | 深圳先进技术研究院 | Generation method and generation device of stimulation signal and terminal equipment |
| WO2022077439A1 (en) * | 2020-10-16 | 2022-04-21 | 深圳先进技术研究院 | Wearable infrared navigation ultrasonic stimulation system |
| CN114209355B (en) * | 2022-02-24 | 2022-06-10 | 深圳高性能医疗器械国家研究院有限公司 | Deep neural ultrasonic automatic positioning and mapping method, device, equipment and medium |
| CN116173417B (en) * | 2022-11-28 | 2023-11-07 | 北京师范大学珠海校区 | Transcranial optical stimulation target area determination method, device, equipment and storage medium |
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